[agus-darmawan]

What and why

With DHARMA_TOKEN set, CI build-test (foxy) got further and found real problems. This branch makes it green: Foxy build of the whole workspace (25 packages) + 170 tests, 0 failures.

Failure	Cause	Fix
rosdep: Cannot locate rosdep definition for [fast_lio]	dharma_odometry's FAST-LIO dependency; HotDog runs on the M20's own odometry	skip fast_lio legkilo livox_ros_driver2 in CI and in scripts/setup.sh install rosdep (same as Dharma's CI)
way back / low-battery return never loaded a route	TfResult.pose2d is a property, called as a method → the return thread crashed	result.pose2d
a patrol that never reached DONE	the latched navigation/status (depth 1) coalesced FOLLOWING into GOAL_REACHED, so the "seen active" guard ignored the end	a status stamped after the follower accepted the start also counts as this route's (stale ends from the last patrol stay ignored); unit test added
the way back started 2 m behind the robot	"earliest waypoint within near_m"	nearest waypoint of the route's first pass within near_m (out-and-back still returns the short way); unit test added
bringup launch tests on Foxy	an include's location is only known after loading on Foxy	load the source before reading it
reports / alerts ROS tests (flaky)	front page checked before the rebuild finished; two latched patrol statuses coalesced	wait for the front page; wait until the first status was taken

How it was tested

• CI: lint, scripts, docs, build-test (foxy): 170 tests, 0 errors, 0 failures
• Unit + style locally (patrol 26)

Checklist

• Conventional commit titles
• Safety-relevant: the way back and the route end detection (patrol), tested in test/ros against a fake stack on Foxy

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